point_cloud_geometry_handlers.h

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#ifndef PCL_POINT_CLOUD_GEOMETRY_HANDLERS_H_
#define PCL_POINT_CLOUD_GEOMETRY_HANDLERS_H_

#if defined __GNUC__
#pragma GCC system_header
#endif

// PCL includes
#include <pcl/point_cloud.h>
#include <pcl/common/io.h>
// VTK includes
#include <vtkSmartPointer.h>
#include <vtkPoints.h>
#include <vtkFloatArray.h>

namespace pcl
{
  namespace visualization
  {
    template <typename PointT>
    class PointCloudGeometryHandler
    {
      public:
        typedef pcl::PointCloud<PointT> PointCloud;
        typedef typename PointCloud::Ptr PointCloudPtr;
        typedef typename PointCloud::ConstPtr PointCloudConstPtr;

        typedef typename boost::shared_ptr<PointCloudGeometryHandler<PointT> > Ptr;
        typedef typename boost::shared_ptr<const PointCloudGeometryHandler<PointT> > ConstPtr;

        PointCloudGeometryHandler (const PointCloudConstPtr &cloud) :
          cloud_ (cloud), capable_ (false),
          field_x_idx_ (-1), field_y_idx_ (-1), field_z_idx_ (-1),
          fields_ ()
        {}

        virtual ~PointCloudGeometryHandler () {}

        virtual std::string
        getName () const = 0;

        virtual std::string
        getFieldName () const  = 0;

        inline bool
        isCapable () const { return (capable_); }

        virtual void
        getGeometry (vtkSmartPointer<vtkPoints> &points) const = 0;

        void
        setInputCloud (const PointCloudConstPtr &cloud)
        {
          cloud_ = cloud;
        }

     protected:
        PointCloudConstPtr cloud_;

        bool capable_;

        int field_x_idx_;

        int field_y_idx_;

        int field_z_idx_;

        std::vector<pcl::PCLPointField> fields_;
    };


    template <typename PointT>
    class PointCloudGeometryHandlerXYZ : public PointCloudGeometryHandler<PointT>
    {
      public:
        typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud;
        typedef typename PointCloud::Ptr PointCloudPtr;
        typedef typename PointCloud::ConstPtr PointCloudConstPtr;

        typedef typename boost::shared_ptr<PointCloudGeometryHandlerXYZ<PointT> > Ptr;
        typedef typename boost::shared_ptr<const PointCloudGeometryHandlerXYZ<PointT> > ConstPtr;

        PointCloudGeometryHandlerXYZ (const PointCloudConstPtr &cloud);

        virtual ~PointCloudGeometryHandlerXYZ () {};

        virtual std::string
        getName () const { return ("PointCloudGeometryHandlerXYZ"); }

        virtual std::string
        getFieldName () const { return ("xyz"); }

        virtual void
        getGeometry (vtkSmartPointer<vtkPoints> &points) const;

      private:
        // Members derived from the base class
        using PointCloudGeometryHandler<PointT>::cloud_;
        using PointCloudGeometryHandler<PointT>::capable_;
        using PointCloudGeometryHandler<PointT>::field_x_idx_;
        using PointCloudGeometryHandler<PointT>::field_y_idx_;
        using PointCloudGeometryHandler<PointT>::field_z_idx_;
        using PointCloudGeometryHandler<PointT>::fields_;
    };


    template <typename PointT>
    class PointCloudGeometryHandlerSurfaceNormal : public PointCloudGeometryHandler<PointT>
    {
      public:
        typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud;
        typedef typename PointCloud::Ptr PointCloudPtr;
        typedef typename PointCloud::ConstPtr PointCloudConstPtr;

        typedef typename boost::shared_ptr<PointCloudGeometryHandlerSurfaceNormal<PointT> > Ptr;
        typedef typename boost::shared_ptr<const PointCloudGeometryHandlerSurfaceNormal<PointT> > ConstPtr;

        PointCloudGeometryHandlerSurfaceNormal (const PointCloudConstPtr &cloud);

        virtual std::string
        getName () const { return ("PointCloudGeometryHandlerSurfaceNormal"); }

        virtual std::string
        getFieldName () const { return ("normal_xyz"); }

        virtual void
        getGeometry (vtkSmartPointer<vtkPoints> &points) const;

      private:
        // Members derived from the base class
        using PointCloudGeometryHandler<PointT>::cloud_;
        using PointCloudGeometryHandler<PointT>::capable_;
        using PointCloudGeometryHandler<PointT>::field_x_idx_;
        using PointCloudGeometryHandler<PointT>::field_y_idx_;
        using PointCloudGeometryHandler<PointT>::field_z_idx_;
        using PointCloudGeometryHandler<PointT>::fields_;
    };


    template <typename PointT>
    class PointCloudGeometryHandlerCustom : public PointCloudGeometryHandler<PointT>
    {
      public:
        typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud;
        typedef typename PointCloud::Ptr PointCloudPtr;
        typedef typename PointCloud::ConstPtr PointCloudConstPtr;

        typedef typename boost::shared_ptr<PointCloudGeometryHandlerCustom<PointT> > Ptr;
        typedef typename boost::shared_ptr<const PointCloudGeometryHandlerCustom<PointT> > ConstPtr;

        PointCloudGeometryHandlerCustom (const PointCloudConstPtr &cloud,
                                         const std::string &x_field_name,
                                         const std::string &y_field_name,
                                         const std::string &z_field_name)
        {
          field_x_idx_ = pcl::getFieldIndex (*cloud, x_field_name, fields_);
          if (field_x_idx_ == -1)
            return;
          field_y_idx_ = pcl::getFieldIndex (*cloud, y_field_name, fields_);
          if (field_y_idx_ == -1)
            return;
          field_z_idx_ = pcl::getFieldIndex (*cloud, z_field_name, fields_);
          if (field_z_idx_ == -1)
            return;
          field_name_ = x_field_name + y_field_name + z_field_name;
          capable_ = true;
        }

        virtual std::string
        getName () const { return ("PointCloudGeometryHandlerCustom"); }

        virtual std::string
        getFieldName () const { return (field_name_); }

        virtual void
        getGeometry (vtkSmartPointer<vtkPoints> &points) const
        {
          if (!capable_)
            return;

          if (!points)
            points = vtkSmartPointer<vtkPoints>::New ();
          points->SetDataTypeToFloat ();
          points->SetNumberOfPoints (cloud_->points.size ());

          float data;
          // Add all points
          double p[3];
          for (vtkIdType i = 0; i < static_cast<vtkIdType> (cloud_->points.size ()); ++i)
          {
            // Copy the value at the specified field
            const uint8_t* pt_data = reinterpret_cast<const uint8_t*> (&cloud_->points[i]);
            memcpy (&data, pt_data + fields_[field_x_idx_].offset, sizeof (float));
            p[0] = data;

            memcpy (&data, pt_data + fields_[field_y_idx_].offset, sizeof (float));
            p[1] = data;

            memcpy (&data, pt_data + fields_[field_z_idx_].offset, sizeof (float));
            p[2] = data;

            points->SetPoint (i, p);
          }
        }

      private:
        // Members derived from the base class
        using PointCloudGeometryHandler<PointT>::cloud_;
        using PointCloudGeometryHandler<PointT>::capable_;
        using PointCloudGeometryHandler<PointT>::field_x_idx_;
        using PointCloudGeometryHandler<PointT>::field_y_idx_;
        using PointCloudGeometryHandler<PointT>::field_z_idx_;
        using PointCloudGeometryHandler<PointT>::fields_;

        std::string field_name_;
    };


    template <>
    class PCL_EXPORTS PointCloudGeometryHandler<pcl::PCLPointCloud2>
    {
      public:
        typedef pcl::PCLPointCloud2 PointCloud;
        typedef PointCloud::Ptr PointCloudPtr;
        typedef PointCloud::ConstPtr PointCloudConstPtr;

        typedef boost::shared_ptr<PointCloudGeometryHandler<PointCloud> > Ptr;
        typedef boost::shared_ptr<const PointCloudGeometryHandler<PointCloud> > ConstPtr;

        PointCloudGeometryHandler (const PointCloudConstPtr &cloud, const Eigen::Vector4f & = Eigen::Vector4f::Zero ())
          : cloud_ (cloud)
          , capable_ (false)
          , field_x_idx_ (-1)
          , field_y_idx_ (-1)
          , field_z_idx_ (-1)
          , fields_ (cloud_->fields)
        {
        }

        virtual ~PointCloudGeometryHandler () {}

        virtual std::string
        getName () const = 0;

        virtual std::string
        getFieldName () const  = 0;

        inline bool
        isCapable () const { return (capable_); }

        virtual void
        getGeometry (vtkSmartPointer<vtkPoints> &points) const;

        void
        setInputCloud (const PointCloudConstPtr &cloud)
        {
          cloud_ = cloud;
        }

      protected:
        PointCloudConstPtr cloud_;

        bool capable_;

        int field_x_idx_;

        int field_y_idx_;

        int field_z_idx_;

        std::vector<pcl::PCLPointField> fields_;
    };


    template <>
    class PCL_EXPORTS PointCloudGeometryHandlerXYZ<pcl::PCLPointCloud2> : public PointCloudGeometryHandler<pcl::PCLPointCloud2>
    {
      public:
        typedef PointCloudGeometryHandler<pcl::PCLPointCloud2>::PointCloud PointCloud;
        typedef PointCloud::Ptr PointCloudPtr;
        typedef PointCloud::ConstPtr PointCloudConstPtr;

        typedef boost::shared_ptr<PointCloudGeometryHandlerXYZ<PointCloud> > Ptr;
        typedef boost::shared_ptr<const PointCloudGeometryHandlerXYZ<PointCloud> > ConstPtr;

        PointCloudGeometryHandlerXYZ (const PointCloudConstPtr &cloud);

        virtual ~PointCloudGeometryHandlerXYZ () {}

        virtual std::string 
        getName () const { return ("PointCloudGeometryHandlerXYZ"); }

        virtual std::string
        getFieldName () const { return ("xyz"); }
    };


    template <>
    class PCL_EXPORTS PointCloudGeometryHandlerSurfaceNormal<pcl::PCLPointCloud2> : public PointCloudGeometryHandler<pcl::PCLPointCloud2>
    {
      public:
        typedef PointCloudGeometryHandler<pcl::PCLPointCloud2>::PointCloud PointCloud;
        typedef PointCloud::Ptr PointCloudPtr;
        typedef PointCloud::ConstPtr PointCloudConstPtr;

        typedef boost::shared_ptr<PointCloudGeometryHandlerSurfaceNormal<PointCloud> > Ptr;
        typedef boost::shared_ptr<const PointCloudGeometryHandlerSurfaceNormal<PointCloud> > ConstPtr;

        PointCloudGeometryHandlerSurfaceNormal (const PointCloudConstPtr &cloud);

        virtual std::string
        getName () const { return ("PointCloudGeometryHandlerSurfaceNormal"); }

        virtual std::string
        getFieldName () const { return ("normal_xyz"); }
    };


    template <>
    class PCL_EXPORTS PointCloudGeometryHandlerCustom<pcl::PCLPointCloud2> : public PointCloudGeometryHandler<pcl::PCLPointCloud2>
    {
      public:
        typedef PointCloudGeometryHandler<pcl::PCLPointCloud2>::PointCloud PointCloud;
        typedef PointCloud::Ptr PointCloudPtr;
        typedef PointCloud::ConstPtr PointCloudConstPtr;

        PointCloudGeometryHandlerCustom (const PointCloudConstPtr &cloud,
                                         const std::string &x_field_name,
                                         const std::string &y_field_name,
                                         const std::string &z_field_name);

        virtual ~PointCloudGeometryHandlerCustom () {}

        virtual std::string
        getName () const { return ("PointCloudGeometryHandlerCustom"); }

        virtual std::string
        getFieldName () const { return (field_name_); }

      private:
        std::string field_name_;
    };
  }
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/visualization/impl/point_cloud_geometry_handlers.hpp>
#endif

#endif    // PCL_POINT_CLOUD_GEOMETRY_HANDLERS_H_